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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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85
Marlin/src/module/delta.cpp
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@@ -50,17 +50,16 @@
#include "../core/debug_out.h"
// Initialized by settings.load()
float delta_height,
delta_endstop_adj[ABC] = { 0 },
delta_radius,
float delta_height;
abc_float_t delta_endstop_adj{0};
float delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius,
delta_tower_angle_trim[ABC];
float delta_tower[ABC][2],
delta_diagonal_rod_2_tower[ABC],
delta_clip_start_height = Z_MAX_POS;
delta_calibration_radius;
abc_float_t delta_tower_angle_trim;
xy_float_t delta_tower[ABC];
abc_float_t delta_diagonal_rod_2_tower;
float delta_clip_start_height = Z_MAX_POS;
float delta_safe_distance_from_top();
@@ -69,17 +68,17 @@ float delta_safe_distance_from_top();
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings() {
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]);
delta_tower[C_AXIS][X_AXIS] = cos(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]); // back middle tower
delta_tower[C_AXIS][Y_AXIS] = sin(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(delta_diagonal_rod + drt[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(delta_diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(delta_diagonal_rod + drt[C_AXIS]);
constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER,
drt = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower
sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a));
delta_tower[B_AXIS].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower
sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b));
delta_tower[C_AXIS].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower
sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c));
delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + drt.a),
sq(delta_diagonal_rod + drt.b),
sq(delta_diagonal_rod + drt.c));
update_software_endstops(Z_AXIS);
set_all_unhomed();
}
@@ -101,18 +100,16 @@ void recalc_delta_settings() {
*/
#define DELTA_DEBUG(VAR) do { \
SERIAL_ECHOLNPAIR("Cartesian X", VAR[X_AXIS], " Y", VAR[Y_AXIS], " Z", VAR[Z_AXIS]); \
SERIAL_ECHOLNPAIR("Delta A", delta[A_AXIS], " B", delta[B_AXIS], " C", delta[C_AXIS]); \
SERIAL_ECHOLNPAIR("Cartesian X", VAR.x, " Y", VAR.y, " Z", VAR.z); \
SERIAL_ECHOLNPAIR("Delta A", delta.a, " B", delta.b, " C", delta.c); \
}while(0)
void inverse_kinematics(const float (&raw)[XYZ]) {
void inverse_kinematics(const xyz_pos_t &raw) {
#if HAS_HOTEND_OFFSET
// Delta hotend offsets must be applied in Cartesian space with no "spoofing"
const float pos[XYZ] = {
raw[X_AXIS] - hotend_offset[X_AXIS][active_extruder],
raw[Y_AXIS] - hotend_offset[Y_AXIS][active_extruder],
raw[Z_AXIS]
};
xyz_pos_t pos = { raw.x - hotend_offset[active_extruder].x,
raw.y - hotend_offset[active_extruder].y,
raw.z };
DELTA_IK(pos);
//DELTA_DEBUG(pos);
#else
@@ -126,12 +123,12 @@ void inverse_kinematics(const float (&raw)[XYZ]) {
* effector has the full range of XY motion.
*/
float delta_safe_distance_from_top() {
float cartesian[XYZ] = { 0, 0, 0 };
xyz_pos_t cartesian{0};
inverse_kinematics(cartesian);
float centered_extent = delta[A_AXIS];
cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
const float centered_extent = delta.a;
cartesian.y = DELTA_PRINTABLE_RADIUS;
inverse_kinematics(cartesian);
return ABS(centered_extent - delta[A_AXIS]);
return ABS(centered_extent - delta.a);
}
/**
@@ -161,7 +158,7 @@ float delta_safe_distance_from_top() {
*/
void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) {
// Create a vector in old coordinates along x axis of new coordinate
const float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 },
const float p12[3] = { delta_tower[B_AXIS].x - delta_tower[A_AXIS].x, delta_tower[B_AXIS].y - delta_tower[A_AXIS].y, z2 - z1 },
// Get the reciprocal of Magnitude of vector.
d2 = sq(p12[0]) + sq(p12[1]) + sq(p12[2]), inv_d = RSQRT(d2),
@@ -170,7 +167,7 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
ex[3] = { p12[0] * inv_d, p12[1] * inv_d, p12[2] * inv_d },
// Get the vector from the origin of the new system to the third point.
p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 },
p13[3] = { delta_tower[C_AXIS].x - delta_tower[A_AXIS].x, delta_tower[C_AXIS].y - delta_tower[A_AXIS].y, z3 - z1 },
// Use the dot product to find the component of this vector on the X axis.
i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2],
@@ -198,16 +195,16 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
// We now have the d, i and j values defined in Wikipedia.
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + d2) * inv_d * 0.5,
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + sq(i) + j2) * 0.5 - i * Xnew) * inv_j,
Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
Xnew = (delta_diagonal_rod_2_tower.a - delta_diagonal_rod_2_tower.b + d2) * inv_d * 0.5,
Ynew = ((delta_diagonal_rod_2_tower.a - delta_diagonal_rod_2_tower.c + sq(i) + j2) * 0.5 - i * Xnew) * inv_j,
Znew = SQRT(delta_diagonal_rod_2_tower.a - HYPOT2(Xnew, Ynew));
// Start from the origin of the old coordinates and add vectors in the
// old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system.
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
cartes.set(delta_tower[A_AXIS].x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew,
delta_tower[A_AXIS].y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew,
z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew);
}
/**
@@ -217,8 +214,8 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
void home_delta() {
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
// Init the current position of all carriages to 0,0,0
ZERO(current_position);
ZERO(destination);
current_position.reset();
destination.reset();
sync_plan_position();
// Disable stealthChop if used. Enable diag1 pin on driver.
@@ -231,9 +228,9 @@ void home_delta() {
#endif
// Move all carriages together linearly until an endstop is hit.
current_position[Z_AXIS] = (delta_height + 10
current_position.z = (delta_height + 10
#if HAS_BED_PROBE
- probe_offset[Z_AXIS]
- probe_offset.z
#endif
);
line_to_current_position(homing_feedrate(X_AXIS));